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Related Manuals for LORD 3DM -CV5-10
Summary of Contents for LORD 3DM -CV5-10
- Page 1 LORD USER MANUAL ® -CV5-10 Inertial Measurement Unit (IMU)
- Page 2 ® MicroStrain Sensing Systems 459 Hurricane Lane Suite 102 Williston, VT 05495 United States of America Phone: 802-862-6629 www.microstrain.com sensing_support@LORD.com sensing_sales@LORD.com Copyright © 2017 LORD Corporation ® ® ® ® ™ ® ® ® ® ® , 3DM-DH , 3DM-DH3...
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Page 3: Table Of Contents
® -CV5-10 User Manual Table of Contents System Family Overview Sensor Overview 2.1 Components 2.2 Interface and Indicators Basic Setup and Operations 3.1 Software Installation 3.2 System Connections 3.3 Software Interface 3.3.1 Interactive Help Menu 3.4 Sensor Communication 3.5 Sensor Settings 3.5.1 Saving Configurations 3.6 Data Monitoring and Recording 3.7 View Recorded Data... - Page 4 ® -CV5-10 User Manual 5.5 Temperature Compensation 5.6 Import and Export Settings Sensor Installation 6.1 Sensor Mounting System Integration 7.1 Data Communications Protocol (DCP) 7.1.1 Packet Builder 7.2 Sensor Wiring 7.3 Sampling on Start-up 7.4 Connecting to a Datalogger 7.5 Using Wireless Adapters Troubleshooting 8.1 Troubleshooting Guide 8.2 Repair and Calibration...
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Page 5: System Family Overview
The LORD Sensing MIP Data Communications Protocol (DCP) that is used to communicate with LORD Sensing inertial sensors is also available for users who want to develop customized software solutions. Because of the unified set of commands across the sensor family, it is easy to migrate code from one inertial sensor to another. -
Page 6: Sensor Overview
Sensor measurements and computed outputs can be viewed and recorded with the LORD Sensing MIP Monitor software that is available as a free download from the LORD Sensing website. Alternatively, users can write custom software with the LORD Sensing open source data communication protocol. The data is time-aligned and available by either polling or continuous stream. -
Page 7: Components
For a complete list of available configurations, accessories, additional system products, and ordering information, see Parts and Configurations on page 40 . LORD Sensing Item Description Model Part Number... -
Page 8: Interface And Indicators
® -CV5-10 User Manual 2.2 Interface and Indicators The 3DM-CV5-10 sensor interface includes a communications and power input connector. The sensor is installed using the mounting and alignment holes as needed ( see Sensor Mounting on page 29 The indicators on the 3DM-CV5-10 include a device status indicator and the device information label. The table below describes the basic status indicator behavior. -
Page 9: Basic Setup And Operations
Users may also utilize the LORD Sensing MIP Data Communications Protocol (DCP) to write custom software applications with expanded or specific feature sets needed for the application. MIP Monitor includes a message building tool that can be used to streamline this process. -
Page 10: Software Installation
® -CV5-10 User Manual 3.1 Software Installation NOTE The MIP Monitor Software Suite includes hardware drivers required for 3DM-CV5-10 sensor operation. Sensors will not be recognized without these drivers installed. To Install the MIP Monitor software on the host computer, complete the following steps: 1. -
Page 11: System Connections
( see Specifications on page 1 To acquire sensor data the following components are needed: 3DM-CV5-10 sensor, communication cable, power cable, connectivity board, and a host computer with LORD Sensing MIP Monitor installed. Figure 5 -System Connections... -
Page 12: Software Interface
® -CV5-10 User Manual 3.3 Software Interface The MIP Monitor software includes a main window with system information and menus, a device settings window, and several data monitoring windows. The main window provides an overview of connected devices. Devices are selected by clicking on them. -
Page 13: Sensor Communication
® -CV5-10 User Manual 3.4 Sensor Communication Once power has been applied to the sensor, it is functional. If the hardware drivers have been installed, communication can be established using the MIP Monitor software interface. 1. Verify the sensor device status indicator is on. 2. -
Page 14: Sensor Settings
® -CV5-10 User Manual 3.5 Sensor Settings Device settings are stored in the sensor memory. Only the configuration options available for the sensor being used are displayed in the menus. To enter the settings menu, either right-click on the sensor name highlighted in the main window, and then select Device Settings, or select Settings >... -
Page 15: Saving Configurations
® -CV5-10 User Manual 3.5.1 Saving Configurations Sensor settings are saved temporarily by selecting the OK button in the Device Setup window after configuration, but they are lost when the device is powered off. To save current settings, so they are automatically restored the next time the device is powered on, select Settings >... -
Page 16: Data Monitoring And Recording
® -CV5-10 User Manual 3.6 Data Monitoring and Recording Throughout the MIP Monitor views the same icons are used to control data streaming (sampling) and recording. These icons can be found in the MIP Monitor main window icon toolbar and in each data monitoring window. -
Page 17: View Recorded Data
® -CV5-10 User Manual Figure 12 -Data Streaming 3.7 View Recorded Data Recorded data is stored in either Binary (.bin) or Comma Separated Values (.csv) format, depending on what was selected at the initiation of data recording. The files can be found in the directory specified at that time or in the default directory on the host computer desktop. - Page 18 CSV files can be viewed with Microsoft Excel, Quattro Pro, Open Office, or other CSV editors and spreadsheet programs. Data recorded in Binary format requires a translation program utilizing the LORD Sensing MIP Data Communications Protocol (DCP) to make it user-readable.
- Page 19 ® -CV5-10 User Manual 4. To end recording press the Arm Recording button again, and select OK in the confirmation prompt window. 5. Select the Stop Streaming icon to end sampling. 6. Use the red "X" in the upper right of the sensor monitoring window to exit monitoring mode.
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Page 20: Sensor Measurements
® -CV5-10 User Manual Sensor Measurements The 3DM- CV5 - 10 block diagram ( Figure 14 - 3DM- CV5- 10 Block Diagram ) describes its primary hardware components and internal configuration. Integrated Micro-Electro-Mechanical System (MEMS) sensors within the 3DM- CV5- 10 are collectively known as the Inertial Measurement Unit (IMU) and include tri- axial gyroscopes (gyros), and tri- axial accelerometers. -
Page 21: Direct Sensor Measurements (Imu Outputs)
® -CV5-10 User Manual 4.1 Direct Sensor Measurements (IMU Outputs) The sensors in an Inertial Navigation System (INS), from which measurements for navigation and orientation are obtained, are collectively known as the Inertial Measurement Unit (IMU). These sensors are arranged on the three primary axes (x, y, and z) to sense angular rate acceleration. The gyroscopes are used to adjust the current attitude estimate when an angular rate is sensed. - Page 22 ® -CV5-10 User Manual Table 2 - IMU Measurements lists the IMU measurements available for the 3DM-CV5-10. Additional measurement units may be available in MIP Monitor for some outputs, however they are converted values and do not represent the actual sensor outputs. Only actual output units are listed. see Basic Setup and Operations on page 9 To view and record IMU outputs, Measurement...
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Page 23: Sensor Reference Frames
® -CV5-10 User Manual 4.2 Sensor Reference Frames 4.2.1 Geodetic Frame The World Geodetic System is the standard for cartography and navigation. The latest revision, WGS84, is the reference coordinate system for GPS. It also calculates the magnitude of the local gravity vector using the WGS84 reference formulas. -
Page 24: North East Down (Ned) Frame
® -CV5-10 User Manual 4.2.2 North East Down (NED) Frame The North-East-Down (NED) frame is a local coordinate frame, which is formed by a tangent plane located at a particular point (current coordinates) on the WGS84 reference ellipse. The NED frame is constructed with the (true) North vector along the line of longitude, the East vector along the line of latitude, and the Down vector normal to and towards the tangent plane ( Figure 17 - North East... -
Page 25: Sensor Frame
® -CV5-10 User Manual 4.2.3 Sensor Frame The sensor frame is indicated on the top of the device and is oriented such that the x-axis vector is parallel with the long side of the sensor and points toward the sensor connector, the y-axis is 90° to the right of the x-axis, and the z-axis goes through the bottom of the sensor (outward). -
Page 26: Performance Optimization
® -CV5-10 User Manual Performance Optimization 5.1 Gyroscope Bias Gyroscope biases (offsets) can be zeroed out to set a baseline value for the static home position and conditions in the application. This should be done after sensor installation. To set the gyroscope baseline, place the sensor or sensor platform in the desired home position. Allow 2-3 minutes for the sensor to warm up and for the temperature to stabilize for the best bias capture. -
Page 27: Angular Rate And Acceleration Limits
® -CV5-10 User Manual 5.2 Angular Rate and Acceleration Limits The 3DM-CV5-10 angular rate and acceleration ranges depend on the sensors installed in the device. Exceeding the specified range for either sensor will result in sensor saturation and errors in delta theta and delta velocity outputsestimated state errors and elevated uncertainties until the over-range event is corrected and the filter can resolve the errors. -
Page 28: Import And Export Settings
The import and export settings features provide a consolidated file of the user settings, enabling Device Settings information to be saved and shared. For example, exporting settings to the LORD technical support team helps facilitate fast and accurate resolution of technical issues. -
Page 29: Sensor Installation
® -CV5-10 User Manual Sensor Installation 6.1 Sensor Mounting See the CV5 Interface Control Document for detailed drawings and mounting instructions. The sensor has three holes for fastening to ensure maximum stability. Mounting fasteners should be 2- 56 x ½" button head screws, either brass or 300 series stainless steel. The sensor can be mounted in any orientation, as required for the application. -
Page 30: System Integration
Select 3DM- CV5- 10 from the "Select a Product to View Documentation" drop- down menu. The manual will appear in a list under "General Documentation." The MIP software developers kit (SDK) includes sample code and can be found on the LORD Sensing website Support page or by contacting Technical Support ( see Technical Support on page 39 The LORD Sensing MIP Data Communications Protocol (DCP) describes each command description,... -
Page 31: Packet Builder
The packet builder allows users to send multiple packets to the 3DM-CV5-10 and view the resulting reply data. Applicable protocol structure and design is described in the 3DM-CV5-10 LORD Sensing MIP Data Communications Protocol (DCP) Manual DCP Manual . For additional help, contact Technical... -
Page 32: Sensor Wiring
There are two input power pins available, connect only one at a time. Sensor power and serial communications cables are available from LORD Sensing and come with the sensor development kits. The connector interface includes connections for RS232 communication and a precision hardware timing (PPS) for synchronizing with external timestamps. -
Page 33: Sampling On Start-Up
MIP Monitor for data logging is not required. This functionality can also be embedded in user- designed applications by using the corresponding LORD Sensing MIP Data Communications Protocol (DCP) command. To view or download the DCP Manual, go to: http://www.microstrain.com/support/documentation, from the drop-down menu select 3DM-CV5-... -
Page 34: Connecting To A Datalogger
Many inertial applications incorporate dataloggers of all different types to collect and distribute sensor outputs. For more information and examples refer to the "Using Dataloggers with Inertial Sensors" Technical Note on the LORD Sensing website, or contact LORD Sensing Technical Support ( Technical Support on page 39 7.5 Using Wireless Adapters... -
Page 35: Troubleshooting
® -CV5-10 User Manual Troubleshooting 8.1 Troubleshooting Guide Problem Possible cause and recommended solution 1.1 no power is applied Make sure the sensor is connected to a power source. 1. POWER 1.2 power source is off or miswired sensor does not power Verify the device power source is connected correctly. - Page 36 If no conclusion can be determined, or to send a device in for repair, contact LORD Sensing Technical Support ( See Technical Support on page 3.1 sampling settings are incorrect...
- Page 37 When data recording is started the user can choose between CSV and Binary output formats. If the data is recorded in Binary format it will require a translation program that utilizes the LORD Sensing MIP Data Communications Protocol (DCP) to make it readable. 3.5 sensor is damaged With the sensor in a static neutral position data, look for baseline offset or drift on the IMU sensor outputs.
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Page 38: Repair And Calibration
LORD Sensing model number and serial number, as well as your name, organization, shipping address, telephone number, and email. Normal turn- around for RMA items is seven days from receipt of item by LORD Sensing . Warranty Repairs LORD Sensing warrants its products to be free from defective material and workmanship for a period of one (1) year from the original date of purchase. -
Page 39: Technical Support
-CV5-10 User Manual 8.3 Technical Support There are many resources for product support found on the LORD Sensing website including technical notes, FAQs, and product manuals. http://www.microstrain.com/support_overview.aspx For further assistance our technical support engineers are available to help with technical and applications questions. -
Page 40: Parts And Configurations
User Manual Parts and Configurations 9.1 Standard Configurations For the most current product information, custom, and OEM options not listed below, refer to the LORD Sensing website or contact the LORD Sensing Sales Department. Table 3 - Model Numbers describes the standard models available at the time this manual was published. - Page 41 ® -CV5-10 User Manual The same options are available in each model, and are indicated in the last four digits of the product part number. For a list of the starter kit contents,( see Components on page 1 Figure 25 -Standard Part Numbers...
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Page 42: Accessories
Table 4 - Sensor Accessories 9.3 Sales Support Products can be ordered directly from the LORD Sensing website by navigating to the product page and using the Buy feature. http://www.microstrain.com/inertial For further assistance, our sales team is available to help with product selection, ordering options, and questions. -
Page 43: Specifications
® -CV5-10 User Manual Specifications Specifications General Triaxial accelerometer, triaxial gyroscope, and Integrated sensors temperature sensors Inertial Measurement Unit (IMU) outputs: acceleration, Data outputs angular rate, delta theta, delta velocity Inertial Measurement Unit (IMU) Sensor Outputs Accelerometer Gyroscope ±500°/sec (standard) Measurement range ±8 g (standard) ±250°, ±1000°/sec (optional) - Page 44 ® -CV5-10 User Manual Operating Parameters TTL serial (3.0 V dc, 9,600 bps to 921,600 bps, default Communication 115,200) Power source + 3.2 to 5.2 V dc Power consumption 350 mW (typ) Operating temperature -40 °C to +85 °C 500 g (calibration unaffected) Mechanical shock limit 1000 g (bias may change), 5000 g (survivability) Physical Specifications...
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Page 45: 3Dm-Cv5 Sensors
® -CV5-10 User Manual 11.1 3DM-CV5 Sensors See the CV5 Interface Control Document for detailed diagrams, notes and references on the 3DM- CV5 family of inertial sensors. Figure 26 -3DM-CV5 Sensor... -
Page 46: 3Dm-Cv5 Development Kit
® -CV5-10 User Manual 11.2 3DM-CV5 Development Kit See the 3DM- CV5 Reference Design Documentation for detailed drawings and notes on the components included in the development kit. Figure 27 -C-Series Connectivity Board... -
Page 47: Reference Documents
-CV5-10 User Manual Reference Documents Many references are available on the LORD Sensing website including product user manuals, technical notes, and quick start guides. These documents are continuously updated and may provide more accurate information than printed or file copies. ... -
Page 48: Safety Information
This section provides a summary of general safety precautions that must be understood and applied during operation and maintenance of components in the LORD Sensing Inertial Sensor Products. Throughout the manual, ANSI Z535 standard safety symbols are used to indicate a process or component that requires cautionary measures. -
Page 49: Glossary
® -CV5-10 User Manual Glossary A/D Value The digital representation of analog voltages in an analog-to-digital (A/D) conversion. The accuracy of the conversion is dependent on the resolution of the system electronics. Higher resolution produces a more accurate conversion. Acceleration In physics,acceleration is the change in the rate of speed (velocity) of an object over time. - Page 50 ® -CV5-10 User Manual ASTM (Association of Standards and Testing) a nationally accepted organization for the testing and calibration of technological devices Attitude the orientaion of an object in space with reference to a defined frame, such as the North-East-Down (NED) frame Azimuth A horizontal arc measured between a fixed point (such as true north) and the vertical circle passing...
- Page 51 ® -CV5-10 User Manual Delta-Theta the time integral of angular rate expressed with refernce to the device local coordinate system, in units of radians Delta-velocity the time integral of velocity expressed with refernce to the device local coordinate system, in units of g*second where g is the standard gravitational constant ECEF (Earth Centered Earth Fixed) a reference frame that is fixed to the earth at the center of the earth and turning about earth's axis in the...
- Page 52 ® -CV5-10 User Manual Host (computer) The host computer is the computer that orchestrates command and control of attached devices or net- works. Inertial Measurement System Inclinometer device used to measure tilt, or tilt and roll Inertial pertaining to systems that have inertia or are used to measure changes in inertia as in angular or linear accelerations INS (Inertial Navigation System) systems that use inertial measurements exclusively to determine position, velocity, and attitude, given...
- Page 53 ® -CV5-10 User Manual NED (North-East-Down) A geographic reference system acronym for Original Equipment Manufacturer Offset A non-zero output signal of a sensor when no load is applied to it, typically due to sensor imperfections. Also called bias. Orientation The orientaion of an object in space with reference to a defined frame. Also called attitude. Pitch In navigation pitch is what occurs when vertical force is applied at a distance forward or aft from the cen- ter of gravity of the platform, causing it to move up or down with respect to the sensor or platform frame...
- Page 54 ® -CV5-10 User Manual acronym for Root Mean Squared Roll In navigation roll is what occurs when a horizontal force is applied at a distance right or left from the cen- ter of gravity of the platform, causing it to move side to side with respect to the sensor or platform frame origin.
- Page 55 ® -CV5-10 User Manual UTC (Coordinated Universal Time) The primary time standard for world clocks and time. It is similar to Greenwich Mean Time (GMT). Vector a measurement with direction and magnitude with refernce from one point in space to another Velocity The rate of change of position with respect to time.